On Wed, 25 Apr 2012, Andrew wrote:
Date: Wed, 25 Apr 2012 09:41:32 +0300
From: Andrew <parallel.kinemat...@gmail.com>
Reply-To: "Enhanced Machine Controller (EMC)"
<emc-users@lists.sourceforge.net>
To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net>
Subject: Re: [Emc-users] BLDC on 7i43 + 7i39 + linear motors
22 ???????????? 2012 ??. 22:34 Peter C. Wallace <p...@mesanet.com>
??????????????:
When the encoder velocity estimation is used it is not as affected by
encoder resolution as the normal D/DT of position. This is because the
velocty estimation measures counts/delta_time rather than count per servo
period. the delta_time being measured by time stamping encoder signal edges
with a 1 Usec resolution clock. The velocity estimation is still affected
by quadrature error (deviation from exact 90 degree phase shift between A
and B) so if this can be improved (some encoders have gain pots on the A
and B photodiode amps)
I read the thread about PID tuning, and some ideas appeared. The question
is: how to set deadband? You said it should be 0 for 7i39, as it has
internal deadband management.
Andrew
The 7I39 wants 0 deadtime in its PWM so the 3pwmgen deadtime should
bbe set to 0 (man hostmot2)
Peter Wallace
Mesa Electronics
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